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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_progressive_morphological_filter-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::ProgressiveMorphologicalFilter&lt; PointT &gt; 模板类 参考</div>  </div>
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<p>Implements the Progressive Morphological <a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> for segmentation of ground points. Description can be found in the article "A Progressive Morphological Filter for Removing Nonground Measurements from
Airborne LIDAR Data" by K. Zhang, S. Chen, D. Whitman, M. Shyu, J. Yan, and C. Zhang.  
 <a href="classpcl_1_1_progressive_morphological_filter.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="progressive__morphological__filter_8h_source.html">progressive_morphological_filter.h</a>&gt;</code></p>
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类 pcl::ProgressiveMorphologicalFilter&lt; PointT &gt; 继承关系图:</div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a887dcabcc0f23ff13e5d6bf7e79a1f6b"><td class="memItemLeft" align="right" valign="top"><a id="a887dcabcc0f23ff13e5d6bf7e79a1f6b"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a887dcabcc0f23ff13e5d6bf7e79a1f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a91da53ea983f50bf16ed427893a38482">ProgressiveMorphologicalFilter</a> ()</td></tr>
<tr class="memdesc:a91da53ea983f50bf16ed427893a38482"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor that sets default values for member variables. <br /></td></tr>
<tr class="separator:a91da53ea983f50bf16ed427893a38482"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7989d271efdea7ce7587141fe984b0b"><td class="memItemLeft" align="right" valign="top"><a id="ab7989d271efdea7ce7587141fe984b0b"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#ab7989d271efdea7ce7587141fe984b0b">getMaxWindowSize</a> () const</td></tr>
<tr class="memdesc:ab7989d271efdea7ce7587141fe984b0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum window size to be used in filtering ground returns. <br /></td></tr>
<tr class="separator:ab7989d271efdea7ce7587141fe984b0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2928e5e0a458954c164496247dc53aa9"><td class="memItemLeft" align="right" valign="top"><a id="a2928e5e0a458954c164496247dc53aa9"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a2928e5e0a458954c164496247dc53aa9">setMaxWindowSize</a> (int max_window_size)</td></tr>
<tr class="memdesc:a2928e5e0a458954c164496247dc53aa9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum window size to be used in filtering ground returns. <br /></td></tr>
<tr class="separator:a2928e5e0a458954c164496247dc53aa9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c6b6663273b64a08001652d109071ae"><td class="memItemLeft" align="right" valign="top"><a id="a9c6b6663273b64a08001652d109071ae"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a9c6b6663273b64a08001652d109071ae">getSlope</a> () const</td></tr>
<tr class="memdesc:a9c6b6663273b64a08001652d109071ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the slope value to be used in computing the height threshold. <br /></td></tr>
<tr class="separator:a9c6b6663273b64a08001652d109071ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37c35ea52db899d0ab607a9ab2d8984f"><td class="memItemLeft" align="right" valign="top"><a id="a37c35ea52db899d0ab607a9ab2d8984f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a37c35ea52db899d0ab607a9ab2d8984f">setSlope</a> (float slope)</td></tr>
<tr class="memdesc:a37c35ea52db899d0ab607a9ab2d8984f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the slope value to be used in computing the height threshold. <br /></td></tr>
<tr class="separator:a37c35ea52db899d0ab607a9ab2d8984f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a40eb6907809d3afeb36e9f16704a087a"><td class="memItemLeft" align="right" valign="top"><a id="a40eb6907809d3afeb36e9f16704a087a"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a40eb6907809d3afeb36e9f16704a087a">getMaxDistance</a> () const</td></tr>
<tr class="memdesc:a40eb6907809d3afeb36e9f16704a087a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum height above the parameterized ground surface to be considered a ground return. <br /></td></tr>
<tr class="separator:a40eb6907809d3afeb36e9f16704a087a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8285d609bb1f239a7e4f7e58b435930"><td class="memItemLeft" align="right" valign="top"><a id="ad8285d609bb1f239a7e4f7e58b435930"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#ad8285d609bb1f239a7e4f7e58b435930">setMaxDistance</a> (float max_distance)</td></tr>
<tr class="memdesc:ad8285d609bb1f239a7e4f7e58b435930"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum height above the parameterized ground surface to be considered a ground return. <br /></td></tr>
<tr class="separator:ad8285d609bb1f239a7e4f7e58b435930"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9970bbe556fb9899a72fc228d2faf65"><td class="memItemLeft" align="right" valign="top"><a id="ad9970bbe556fb9899a72fc228d2faf65"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#ad9970bbe556fb9899a72fc228d2faf65">getInitialDistance</a> () const</td></tr>
<tr class="memdesc:ad9970bbe556fb9899a72fc228d2faf65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the initial height above the parameterized ground surface to be considered a ground return. <br /></td></tr>
<tr class="separator:ad9970bbe556fb9899a72fc228d2faf65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec39fbbf693435f7a4a1ce1af9bcd5da"><td class="memItemLeft" align="right" valign="top"><a id="aec39fbbf693435f7a4a1ce1af9bcd5da"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#aec39fbbf693435f7a4a1ce1af9bcd5da">setInitialDistance</a> (float initial_distance)</td></tr>
<tr class="memdesc:aec39fbbf693435f7a4a1ce1af9bcd5da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the initial height above the parameterized ground surface to be considered a ground return. <br /></td></tr>
<tr class="separator:aec39fbbf693435f7a4a1ce1af9bcd5da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab635e43422a466e1470457548a40e3ce"><td class="memItemLeft" align="right" valign="top"><a id="ab635e43422a466e1470457548a40e3ce"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#ab635e43422a466e1470457548a40e3ce">getCellSize</a> () const</td></tr>
<tr class="memdesc:ab635e43422a466e1470457548a40e3ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the cell size. <br /></td></tr>
<tr class="separator:ab635e43422a466e1470457548a40e3ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48611e1e927e8d932404a5e1b1d3015e"><td class="memItemLeft" align="right" valign="top"><a id="a48611e1e927e8d932404a5e1b1d3015e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a48611e1e927e8d932404a5e1b1d3015e">setCellSize</a> (float cell_size)</td></tr>
<tr class="memdesc:a48611e1e927e8d932404a5e1b1d3015e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the cell size. <br /></td></tr>
<tr class="separator:a48611e1e927e8d932404a5e1b1d3015e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85d493f5f20c4fb304e066b5f56cbd59"><td class="memItemLeft" align="right" valign="top"><a id="a85d493f5f20c4fb304e066b5f56cbd59"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a85d493f5f20c4fb304e066b5f56cbd59">getBase</a> () const</td></tr>
<tr class="memdesc:a85d493f5f20c4fb304e066b5f56cbd59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the base to be used in computing progressive window sizes. <br /></td></tr>
<tr class="separator:a85d493f5f20c4fb304e066b5f56cbd59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aad4879b629ce4b72eb90a195346c34d7"><td class="memItemLeft" align="right" valign="top"><a id="aad4879b629ce4b72eb90a195346c34d7"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#aad4879b629ce4b72eb90a195346c34d7">setBase</a> (float base)</td></tr>
<tr class="memdesc:aad4879b629ce4b72eb90a195346c34d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the base to be used in computing progressive window sizes. <br /></td></tr>
<tr class="separator:aad4879b629ce4b72eb90a195346c34d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0c7f493c2a057722ebff27815a007953"><td class="memItemLeft" align="right" valign="top"><a id="a0c7f493c2a057722ebff27815a007953"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a0c7f493c2a057722ebff27815a007953">getExponential</a> () const</td></tr>
<tr class="memdesc:a0c7f493c2a057722ebff27815a007953"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get flag indicating whether or not to exponentially grow window sizes? <br /></td></tr>
<tr class="separator:a0c7f493c2a057722ebff27815a007953"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a044e3716897dfcb17784503e804131fc"><td class="memItemLeft" align="right" valign="top"><a id="a044e3716897dfcb17784503e804131fc"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a044e3716897dfcb17784503e804131fc">setExponential</a> (bool exponential)</td></tr>
<tr class="memdesc:a044e3716897dfcb17784503e804131fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set flag indicating whether or not to exponentially grow window sizes? <br /></td></tr>
<tr class="separator:a044e3716897dfcb17784503e804131fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d0ec27d246c6ba8e11c911c35df0631"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a6d0ec27d246c6ba8e11c911c35df0631">extract</a> (std::vector&lt; int &gt; &amp;ground)</td></tr>
<tr class="memdesc:a6d0ec27d246c6ba8e11c911c35df0631"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method launches the segmentation algorithm and returns indices of points determined to be ground returns.  <a href="classpcl_1_1_progressive_morphological_filter.html#a6d0ec27d246c6ba8e11c911c35df0631">更多...</a><br /></td></tr>
<tr class="separator:a6d0ec27d246c6ba8e11c911c35df0631"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:aa1ff6555c4441ecf40abd1f2d9bca3df"><td class="memItemLeft" align="right" valign="top"><a id="aa1ff6555c4441ecf40abd1f2d9bca3df"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#aa1ff6555c4441ecf40abd1f2d9bca3df">max_window_size_</a></td></tr>
<tr class="memdesc:aa1ff6555c4441ecf40abd1f2d9bca3df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum window size to be used in filtering ground returns. <br /></td></tr>
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<tr class="memitem:a3e3bc2f62da6546f030ff0d462249327"><td class="memItemLeft" align="right" valign="top"><a id="a3e3bc2f62da6546f030ff0d462249327"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a3e3bc2f62da6546f030ff0d462249327">slope_</a></td></tr>
<tr class="memdesc:a3e3bc2f62da6546f030ff0d462249327"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slope value to be used in computing the height threshold. <br /></td></tr>
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<tr class="memitem:a5e2665c3586f7bca891f24f6d7be661b"><td class="memItemLeft" align="right" valign="top"><a id="a5e2665c3586f7bca891f24f6d7be661b"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a5e2665c3586f7bca891f24f6d7be661b">max_distance_</a></td></tr>
<tr class="memdesc:a5e2665c3586f7bca891f24f6d7be661b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum height above the parameterized ground surface to be considered a ground return. <br /></td></tr>
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<tr class="memitem:a84d2a6a037c02f1004903dde806410f8"><td class="memItemLeft" align="right" valign="top"><a id="a84d2a6a037c02f1004903dde806410f8"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a84d2a6a037c02f1004903dde806410f8">initial_distance_</a></td></tr>
<tr class="memdesc:a84d2a6a037c02f1004903dde806410f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initial height above the parameterized ground surface to be considered a ground return. <br /></td></tr>
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<tr class="memitem:ae6808cc43583d75cd0701af60f40ffcb"><td class="memItemLeft" align="right" valign="top"><a id="ae6808cc43583d75cd0701af60f40ffcb"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#ae6808cc43583d75cd0701af60f40ffcb">cell_size_</a></td></tr>
<tr class="memdesc:ae6808cc43583d75cd0701af60f40ffcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cell size. <br /></td></tr>
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<tr class="memitem:a53a8c33df87fd831d14d2455a33a1999"><td class="memItemLeft" align="right" valign="top"><a id="a53a8c33df87fd831d14d2455a33a1999"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a53a8c33df87fd831d14d2455a33a1999">base_</a></td></tr>
<tr class="memdesc:a53a8c33df87fd831d14d2455a33a1999"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base to be used in computing progressive window sizes. <br /></td></tr>
<tr class="separator:a53a8c33df87fd831d14d2455a33a1999"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8591f1dfb51c92b244f4e95ff2e00a02"><td class="memItemLeft" align="right" valign="top"><a id="a8591f1dfb51c92b244f4e95ff2e00a02"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_progressive_morphological_filter.html#a8591f1dfb51c92b244f4e95ff2e00a02">exponential_</a></td></tr>
<tr class="memdesc:a8591f1dfb51c92b244f4e95ff2e00a02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Exponentially grow window sizes? <br /></td></tr>
<tr class="separator:a8591f1dfb51c92b244f4e95ff2e00a02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::ProgressiveMorphologicalFilter&lt; PointT &gt;</h3>

<p>Implements the Progressive Morphological <a class="el" href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface.">Filter</a> for segmentation of ground points. Description can be found in the article "A Progressive Morphological Filter for Removing Nonground Measurements from
Airborne LIDAR Data" by K. Zhang, S. Chen, D. Whitman, M. Shyu, J. Yan, and C. Zhang. </p>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a6d0ec27d246c6ba8e11c911c35df0631"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6d0ec27d246c6ba8e11c911c35df0631">&#9670;&nbsp;</a></span>extract()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_progressive_morphological_filter.html">pcl::ProgressiveMorphologicalFilter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::extract </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>ground</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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</div><div class="memdoc">

<p>This method launches the segmentation algorithm and returns indices of points determined to be ground returns. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">ground</td><td>indices of points determined to be ground returns. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = <a class="code" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ();</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> (!segmentation_is_possible)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// Compute the series of window sizes and height thresholds</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  std::vector&lt;float&gt; height_thresholds;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  std::vector&lt;float&gt; window_sizes;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">int</span> iteration = 0;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">float</span> window_size = 0.0f;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">float</span> height_threshold = 0.0f;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">while</span> (window_size &lt; <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#aa1ff6555c4441ecf40abd1f2d9bca3df">max_window_size_</a>)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="comment">// Determine the initial window size.</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a8591f1dfb51c92b244f4e95ff2e00a02">exponential_</a>)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      window_size = <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#ae6808cc43583d75cd0701af60f40ffcb">cell_size_</a> * (2.0f * std::pow (<a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a53a8c33df87fd831d14d2455a33a1999">base_</a>, iteration) + 1.0f);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      window_size = <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#ae6808cc43583d75cd0701af60f40ffcb">cell_size_</a> * (2.0f * (iteration+1) * <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a53a8c33df87fd831d14d2455a33a1999">base_</a> + 1.0f);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">// Calculate the height threshold to be used in the next iteration.</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordflow">if</span> (iteration == 0)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      height_threshold = <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a84d2a6a037c02f1004903dde806410f8">initial_distance_</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      height_threshold = <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a3e3bc2f62da6546f030ff0d462249327">slope_</a> * (window_size - window_sizes[iteration-1]) * <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#ae6808cc43583d75cd0701af60f40ffcb">cell_size_</a> + <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a84d2a6a037c02f1004903dde806410f8">initial_distance_</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">// Enforce max distance on height threshold</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">if</span> (height_threshold &gt; <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a5e2665c3586f7bca891f24f6d7be661b">max_distance_</a>)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      height_threshold = <a class="code" href="classpcl_1_1_progressive_morphological_filter.html#a5e2665c3586f7bca891f24f6d7be661b">max_distance_</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    window_sizes.push_back (window_size);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    height_thresholds.push_back (height_threshold);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    iteration++;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">// Ground indices are initially limited to those points in the input cloud we</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">// wish to process</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  ground = *<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// Progressively filter ground returns using morphological open</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; window_sizes.size (); ++i)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;      Iteration %d (height threshold = %f, window size = %f)...&quot;</span>,</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;               i, height_thresholds[i], window_sizes[i]);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="comment">// Limit filtering to those points currently considered ground returns</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    pcl::copyPointCloud&lt;PointT&gt; (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, ground, *cloud);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="comment">// Create new cloud to hold the filtered results. Apply the morphological</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// opening operation at the current window size.</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud_f (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    pcl::applyMorphologicalOperator&lt;PointT&gt; (cloud, window_sizes[i], MORPH_OPEN, *cloud_f);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">// Find indices of the points whose difference between the source and</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">// filtered point clouds is less than the current height threshold.</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    std::vector&lt;int&gt; pt_indices;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> p_idx = 0; p_idx &lt; ground.size (); ++p_idx)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordtype">float</span> diff = cloud-&gt;points[p_idx].z - cloud_f-&gt;points[p_idx].z;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordflow">if</span> (diff &lt; height_thresholds[i])</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        pt_indices.push_back (ground[p_idx]);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="comment">// Ground is now limited to pt_indices</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    ground.swap (pt_indices);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;ground now has %d points\n&quot;</span>, ground.size ());</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_acceb20854934f4cf77e266eb5a44d4f0"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:139</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_afc426c4eebb94b7734d4fa556bff1420"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">pcl::PCLBase::deinitCompute</a></div><div class="ttdeci">bool deinitCompute()</div><div class="ttdoc">This method should get called after finishing the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:174</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_morphological_filter_html_a3e3bc2f62da6546f030ff0d462249327"><div class="ttname"><a href="classpcl_1_1_progressive_morphological_filter.html#a3e3bc2f62da6546f030ff0d462249327">pcl::ProgressiveMorphologicalFilter::slope_</a></div><div class="ttdeci">float slope_</div><div class="ttdoc">Slope value to be used in computing the height threshold.</div><div class="ttdef"><b>Definition:</b> progressive_morphological_filter.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_morphological_filter_html_a53a8c33df87fd831d14d2455a33a1999"><div class="ttname"><a href="classpcl_1_1_progressive_morphological_filter.html#a53a8c33df87fd831d14d2455a33a1999">pcl::ProgressiveMorphologicalFilter::base_</a></div><div class="ttdeci">float base_</div><div class="ttdoc">Base to be used in computing progressive window sizes.</div><div class="ttdef"><b>Definition:</b> progressive_morphological_filter.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_morphological_filter_html_a5e2665c3586f7bca891f24f6d7be661b"><div class="ttname"><a href="classpcl_1_1_progressive_morphological_filter.html#a5e2665c3586f7bca891f24f6d7be661b">pcl::ProgressiveMorphologicalFilter::max_distance_</a></div><div class="ttdeci">float max_distance_</div><div class="ttdoc">Maximum height above the parameterized ground surface to be considered a ground return.</div><div class="ttdef"><b>Definition:</b> progressive_morphological_filter.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_morphological_filter_html_a84d2a6a037c02f1004903dde806410f8"><div class="ttname"><a href="classpcl_1_1_progressive_morphological_filter.html#a84d2a6a037c02f1004903dde806410f8">pcl::ProgressiveMorphologicalFilter::initial_distance_</a></div><div class="ttdeci">float initial_distance_</div><div class="ttdoc">Initial height above the parameterized ground surface to be considered a ground return.</div><div class="ttdef"><b>Definition:</b> progressive_morphological_filter.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_morphological_filter_html_a8591f1dfb51c92b244f4e95ff2e00a02"><div class="ttname"><a href="classpcl_1_1_progressive_morphological_filter.html#a8591f1dfb51c92b244f4e95ff2e00a02">pcl::ProgressiveMorphologicalFilter::exponential_</a></div><div class="ttdeci">bool exponential_</div><div class="ttdoc">Exponentially grow window sizes?</div><div class="ttdef"><b>Definition:</b> progressive_morphological_filter.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_morphological_filter_html_aa1ff6555c4441ecf40abd1f2d9bca3df"><div class="ttname"><a href="classpcl_1_1_progressive_morphological_filter.html#aa1ff6555c4441ecf40abd1f2d9bca3df">pcl::ProgressiveMorphologicalFilter::max_window_size_</a></div><div class="ttdeci">int max_window_size_</div><div class="ttdoc">Maximum window size to be used in filtering ground returns.</div><div class="ttdef"><b>Definition:</b> progressive_morphological_filter.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_progressive_morphological_filter_html_ae6808cc43583d75cd0701af60f40ffcb"><div class="ttname"><a href="classpcl_1_1_progressive_morphological_filter.html#ae6808cc43583d75cd0701af60f40ffcb">pcl::ProgressiveMorphologicalFilter::cell_size_</a></div><div class="ttdeci">float cell_size_</div><div class="ttdoc">Cell size.</div><div class="ttdef"><b>Definition:</b> progressive_morphological_filter.h:154</div></div>
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